Object representation for fast trajectory collision testing by means of 2-D algebraic conic sections

In recent years average life expectancy in developed countries has increased, hence the amount of people which depend on a wheeled walking frame and in addition are visually handicapped has grown. The independent mobility of this people is often limited since they need guidance by other humans. Recent research focused on technical guidance systems implemented on a walking frame. The mobile vehicle is often equipped with ultrasonic sensors or a laser scanner. Both sensors suffer of a low spatial resolution so that small objects are not always detected. This paper presents an object representation for high spatial resolution sensors like a depth camera. The amount of sensor data of a depth camera is challenging for real-time path planning. Therefore, the object representation, which is based on algebraic conic sections, and the corresponding proposed analytic collision test are designed with attention on calculation speed and safety.

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